AP_Airspeed: use row_times_mat

2022-07-23 18:33:20 +10:00 · 2022-07-23 18:33:20 +10:00 · ee5fc4ad8e
commit ee5fc4ad8e
parent 0d7da89ef1
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Airspeed/Airspeed_Calibration.cpp
+++ b/libraries/AP_Airspeed/Airspeed_Calibration.cpp
@ -84,7 +84,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg, int16_t m
    state += KG*(TAS_mea - TAS_pred); // [3 x 1] + [3 x 1] * [1 x 1]

    // Update the covariance matrix
-    Vector3f HP2 = H_TAS * P;
+    Vector3f HP2 = H_TAS.row_times_mat(P);
    P -= KG.mul_rowcol(HP2);

    // force symmetry on the covariance matrix - necessary due to rounding